CN110635537B - Charging control method and device and robot - Google Patents
Charging control method and device and robot Download PDFInfo
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
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Abstract
The application provides a charging control method, a charging control device and a robot, wherein the method comprises the following steps: the charging control method comprises the following steps: collecting charging data of a robot in charging; judging whether the charging data is in a set value interval or not; when the charging data is not in the set value interval, the charging circuit of the robot is cut off; and after the charging circuit is cut off for a first designated time, connecting the charging circuit to continuously charge the robot.
Description
Technical Field
The application relates to the technical field of robot control, in particular to a charging control method and device and a robot.
Background
The lithium battery is used as an important part of the robot and can provide electric quantity for the robot. But lithium batteries are also one of the major causes of safety accidents in the field of robots. The existing protective measures for the battery have the defects of monitoring, so that the battery of the robot still has potential safety hazards.
Disclosure of Invention
In view of the above, an object of the embodiments of the present application is to provide a charging control method and apparatus, and a robot. The effect of improving the charging safety of the robot can be achieved.
In a first aspect, an embodiment of the present invention provides a charging control method, which is applied to a robot, and the charging control method includes:
acquiring charging data of the robot;
judging whether the charging data is in a set value interval or not;
when the charging data is not in the set value interval, a charging circuit of the robot is cut off;
after the charging circuit is switched off for a first designated time period, the charging circuit is switched on to continue charging the robot.
In an alternative embodiment, the charging data comprises a charging current or a battery current of the robot; the step of judging whether the charging data is in a set value interval includes:
and judging whether the charging current or the battery current of the robot is in a first numerical value interval.
According to the charging control method provided by the embodiment of the application, the charging can be interrupted when various currents are detected to exceed the set value by detecting the charging current or the battery current, but the charging is not stopped, so that the robot can be continuously charged after being recovered to a relatively normal state, the charging efficiency is improved, and meanwhile, the charging safety of the robot can be improved.
In an alternative embodiment, the charging data comprises a charging voltage or a battery voltage of the robot; the step of judging whether the charging data is in a set value interval includes:
judging whether the charging voltage is within a second numerical value interval or not; or,
and judging whether the battery voltage of the robot is in a third value interval.
According to the charging control method provided by the embodiment of the application, the charging can be interrupted when various voltages are detected to exceed the set value by detecting the charging voltage or the battery voltage, but the charging is not stopped, so that the robot can be continuously charged after being recovered to a relatively normal state, the charging efficiency is improved, and meanwhile, the charging safety of the robot can be improved.
In an alternative embodiment, the method further comprises:
recording the charging time after the charging circuit is switched on;
judging whether the charging time is greater than a set value or not;
when the charging time is longer than the set value, a charging circuit of the robot is cut off;
and after the charging circuit is cut off for a second designated length, connecting the charging circuit to continue charging the robot.
The charging control method provided by the embodiment of the application can also monitor the charging time, and can avoid the overlong charging time of the battery, thereby reducing the potential danger in the charging process of the battery and improving the charging safety of the battery.
In an alternative embodiment, the method further comprises:
and after the charging circuit is cut off, clearing the charging time length.
The charging control method provided by the embodiment of the application can also clear the charging time after the charging is interrupted, so that the charging timing can be more accurate, the potential risks possibly existing in the battery can be more accurately identified, and the charging safety of the battery is improved.
In an alternative embodiment, the method further comprises:
judging whether the charging voltage is smaller than the lower limit value of the voltage of a charger of the robot;
and when the charging voltage is smaller than the lower limit value of the voltage, cutting off a charging circuit of the robot.
The charging control method provided by the embodiment of the application can also be used for connecting the charger to the charging pile possibly after the battery is charged, and damage to the charger can be brought to the charger, so that when the charging voltage is lower than the voltage lower limit value of the charger, the charging circuit can be cut off, and the safety of the battery charger is improved.
In a second aspect, an embodiment of the present invention provides a charging control apparatus for a robot, including:
the acquisition module is used for acquiring the charging data of the robot;
the first judgment module is used for judging whether the charging data is in a set numerical value interval or not;
the cutoff module is used for cutting off a charging circuit of the robot when the charging data is not in the set numerical value interval;
and the communication module is used for communicating the charging circuit to continuously charge the robot after the charging circuit is cut off for a specified time.
In a third aspect, an embodiment of the present invention provides a robot, including: a processor, a memory storing machine readable instructions executable by the processor, the machine readable instructions when executed by the processor perform the steps of the method of any of the preceding embodiments when the electronic device is run.
In an alternative embodiment, the method comprises the following steps: a charging circuit;
the charging circuit includes:
the switching circuit is used for controlling the charging of the robot to be turned on or off;
a current detection circuit for detecting a charging current of the robot or a battery current of the robot;
a voltage detection circuit for detecting a charging voltage of the robot or a battery voltage of the robot;
the first comparator is used for judging whether the charging current or the battery current of the robot is within a first numerical value interval or not;
and the second comparator is used for judging whether the charging voltage or the battery voltage of the robot is within a second numerical value interval.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the method according to any one of the foregoing embodiments.
The electric control method, the electric control device, the robot and the computer-readable storage medium provided by the embodiment of the application adopt the monitoring of the charging data, and when the charging data does not meet the condition, the charging can be interrupted without stopping the charging, so that the charging safety is improved, and the normal charging of the battery can be maintained.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic block diagram of a robot according to an embodiment of the present disclosure.
Fig. 2 is a block diagram illustrating a charging circuit of a robot according to an embodiment of the present disclosure.
Fig. 3 is a flowchart of a charging control method according to an embodiment of the present application.
Fig. 4 is a partial flowchart of a charging control method according to an embodiment of the present application.
Fig. 5 is a schematic functional block diagram of a charging control device according to an embodiment of the present application.
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
To facilitate understanding of the present embodiment, a robot that executes the charging control method disclosed in the embodiments of the present application will be described in detail first.
As shown in fig. 1, is a block schematic diagram of a robot. The robot 100 may include a memory 111, a memory controller 112, a processor 113, and a battery 114. It will be understood by those skilled in the art that the structure shown in fig. 1 is merely illustrative and is not intended to limit the structure of the robot 100. For example, the robot 100 may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.
The above-mentioned components of the memory 111, the memory controller 112, the processor 113 and the battery 114 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 113 is used to execute the executable modules stored in the memory.
The Memory 111 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 111 is configured to store a program, and the processor 113 executes the program after receiving an execution instruction, and the method performed by the robot 100 defined by the process disclosed in any embodiment of the present application may be applied to the processor 113, or implemented by the processor 113.
The processor 113 may be an integrated circuit chip having signal processing capability. The Processor 113 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The battery 114 is used to provide power to the various components of the robot 100 to enable the robot 100 to perform various configured tasks.
Alternatively, the robot 100 may include a Micro Controller Unit (MCU), and in this case, the memory 111, the memory controller 112, the processor 113, and other elements may not be separately provided.
Optionally, the robot in this embodiment further includes: a charging circuit.
Illustratively, as shown in fig. 2, the charging circuit may include: a switch circuit 210, a current detection circuit 220, a voltage detection circuit 230, a first comparator 240, and a second comparator 250.
Wherein the charging circuit may be connected with a charging pile 300 for charging the robot 100.
The processor 113 may be respectively connected with the current detection circuit 220 and the voltage detection circuit 230 to obtain a current value detected by the current detection circuit 220 and a voltage value detected by the voltage detection circuit 230.
Optionally, as shown in fig. 2, the processor 113 may also be connected to the switch circuit 210 for controlling the switch circuit 210 to be turned off and turned on.
The current detection circuit 220 may be connected to one end of the first comparator 240, and the other end of the first comparator 240 may be connected to the switching circuit 210.
The voltage detection circuit 230 may be connected to one end of the second comparator 250, and the other end of the second comparator 250 may be connected to the switching circuit 210.
And a switching circuit 210 for controlling on or off of charging of the robot 100. Illustratively, the turning on or off may be controlled by a high level or a level output by the first comparator 240 or the second comparator 250.
The current detection circuit 220 may be configured to detect a charging current of the robot 100. Optionally, the current detection circuit 220 may also be used to detect the battery current of the robot. Illustratively, during charging of the robot 100, the battery current is equal to the charging current.
Illustratively, the current sensing circuit 200 may include a sampling resistor. And determining the voltage drop of the sampling resistor to determine the current value to be detected.
And a voltage detection circuit 230 for detecting a charging voltage of the robot 100. Optionally, the voltage detection circuit 230 may also be used to detect the battery voltage of the robot 100.
Alternatively, the voltage detection circuit 230 may include a voltage division circuit, a filter circuit, and a controller. The voltage dividing circuit is connected to the battery 114 of the robot 100, and is configured to divide the total voltage of the battery 114 to obtain an original acquisition value. The filter circuit is connected with the voltage division circuit and is used for filtering the original acquisition value to obtain a stable acquisition value. The controller is connected with the filter circuit and used for obtaining the battery voltage according to the stable acquisition value.
A first comparator 240 for determining whether the charging current or the battery current of the robot is within a first value range. For example, when the charging current received by the first comparator 240 or the battery current voltage value of the robot is not in the first value interval, a low level may be output to control the switching circuit 210 to be turned off. For example, when the charging current received by the first comparator 240 or the battery current voltage value of the robot is in the first value interval, a high level may be output to control the switching circuit 210 to be closed.
And a second comparator 250 for determining whether the charging voltage or the battery voltage of the robot is within a second value interval. For example, when the charging voltage received by the second comparator 250 or the voltage value of the battery voltage of the robot is not in the first value interval, a low level may be output to control the switching circuit 210 to be turned off. For example, when the charging voltage received by the second comparator 250 or the voltage value of the battery voltage of the robot is in the second value interval, a high level may be output to control the switching circuit 210 to be closed.
The robot 100 in this embodiment may be used to perform various steps in various methods provided by embodiments of the present application. The implementation of the charging control method is described in detail below with several embodiments.
Example two
Please refer to fig. 3, which is a flowchart illustrating a charging control method according to an embodiment of the present disclosure. The specific flow shown in fig. 3 will be described in detail below.
In this embodiment, the charging data may include a charging current and a charging voltage during the charging process of the battery. The charging data may also include, for example, battery current, battery voltage, etc. during charging of the battery. The charging data may also include voltages of various components in the charging circuit when the battery is not connected to the charging post.
Alternatively, the charging data of the robot may be obtained by a current detection circuit and a voltage detection circuit in the charging circuit shown in fig. 2.
Alternatively, the charging data of the robot may be obtained by obtaining data of the current detection circuit and the voltage detection circuit in the charging circuit shown in fig. 2.
When the charging data is not within the set value interval, step 403 may be executed.
Alternatively, when the determination is performed on different data, the set value interval may match different value intervals.
In one embodiment, the charging data may include a charging current.
Step 402 may include: and judging whether the charging current is in a first value interval or not.
Alternatively, the first numerical range may be (0, Imax ]. where Imax may represent a maximum allowable charging current of the charging current.
Alternatively, the lower limit of the first value interval may be a positive number greater than zero.
In one embodiment, the charging data may further comprise a battery current of the robot.
Step 402 may include: and judging whether the battery current of the robot is in a fourth numerical value interval.
Since the charging current is equal to the battery current during the charging process, the first value interval may be the same as the fourth value interval.
In another embodiment, the charging data may further include a charging voltage.
Step 402 may include: and judging whether the charging voltage is in a second numerical value interval or not.
Alternatively, the second value section described above may be (0, V1max ]. where V1max may represent the maximum allowable charging voltage of the charging voltage.
In another embodiment, the charging data comprises a battery voltage of the robot. Step 402 may include: and judging whether the battery voltage of the robot is in a third value interval.
Alternatively, the second value interval described above may be (0, V2 max. where V2max may represent the maximum voltage allowed by the battery of the robot.
In this embodiment, through cutting off charging circuit to the battery of interrupt robot with fill electric pile's connection.
For example, the charging circuit may be the structure shown in fig. 2, and step 407 may be implemented to turn off the switch circuit in the charging circuit.
And 404, after the charging circuit is cut off for a first designated time, connecting the charging circuit to continuously charge the robot.
Optionally, the first specified duration may be set according to a specific usage scenario. For example, since the capacity of the battery used by the large robot may be relatively large, the first specified time period may be set to a long time period, and illustratively, the first specified time period may be a time period of thirty minutes, one hour, or the like. For another example, since the capacity of the battery used by the small robot may be relatively small, the first specified time period may be set to a short time period, and the first specified time period may be, for example, twenty minutes, thirty minutes, or the like.
Alternatively, on the basis of fig. 3, as shown in fig. 4, the charging control method may further include the following steps.
When the charging time is greater than the set value, step 407 is executed.
The set value may be determined according to the battery of the robot in particular. The above-mentioned set value may be equal to or longer than the total time period required to fully charge the battery.
For example, if a battery of a robot needs to be fully charged for ten hours, the set value may be ten hours or twelve hours. For example, if a battery of a robot needs to be fully charged for seven hours, the set value may be seven hours or eight hours. The embodiment of the application is not limited to the specific value of the set value, and only the battery of the robot can be prevented from being continuously charged.
For example, the charging circuit may be the structure shown in fig. 2, and step 407 may be implemented to turn off the switch circuit in the charging circuit.
And step 408, after the charging circuit is cut off for a second designated length, connecting the charging circuit to continue charging the robot.
Alternatively, the second specified time length may be equal to the first specified time length, or may be different from the first specified time length. For example, the second specified time length may be thirty minutes.
Optionally, the charge control method may further include: and after the charging circuit is cut off, clearing the charging time length.
By resetting the charging time length, the situation that the charging interruption frequency is high and the charging efficiency is influenced due to the fact that the accumulated time length is recorded in the discontinuous charging process can be reduced.
Through the steps, the battery can be identified and confirmed according to some abnormalities in the charging process, and safety monitoring is realized for the abnormalities in the charging process. However, during the non-charging process of the robot, the charging data may be abnormal due to the fact that charging is just finished or charging is interrupted by external factors. Based on this research, the charge control method of the present application may further include the following steps.
In this embodiment, the charging data may further include a charging voltage, and the charging control method in this embodiment may further include the following steps.
And 409, judging whether the charging voltage is smaller than the lower limit value of the voltage of the charger of the robot.
When the charging voltage is less than the voltage lower limit, step 410 is performed.
In one scenario, if the robot leaves the charging pile, the charging voltage value is smaller than the lower voltage limit of the charger of the robot. For example, in the charging process of the robot, since an execution instruction is externally input to the robot, the robot may leave the current position due to the execution instruction and be disconnected from the charging pile.
In another scenario, if the robot is in a charging process and the charging pile is damaged, the value of the charging voltage may be smaller than the lower voltage limit of the charger of the robot.
Step 410, the charging circuit of the robot is cut off.
Through steps 409 and 410, the charging circuit can be cut off when the charging circuit of the robot is disconnected with the charging pile, the phenomenon of short circuit caused by the fact that the charging contact of the robot touches other objects can be reduced, and therefore safety of the robot can be improved.
By using the electric control method provided by the embodiment of the application, the charging data can be monitored, when the charging data does not meet the conditions, for example, the charging current is over-current, or the charging voltage is over-voltage, the charging can be interrupted without stopping the charging, so that the charging safety is improved, and the normal charging of the battery can be maintained.
EXAMPLE III
Based on the same application concept, a charging control device corresponding to the charging control method is further provided in the embodiments of the present application, and since the principle of solving the problem of the device in the embodiments of the present application is similar to that of the charging control method in the embodiments of the present application, the implementation of the device in the embodiments of the present application may refer to the description in the embodiments of the method, and repeated details are omitted.
Fig. 5 is a schematic diagram of functional modules of a charging control device according to an embodiment of the present disclosure. The various modules in the charge control device in this embodiment are used to perform the various steps in the method embodiments described above. The charge control device provided by the embodiment comprises: the device comprises an acquisition module 501, a first judgment module 502, a cutting module 503 and a communication module 504; wherein,
the acquisition module 501 is used for acquiring charging data of the robot;
a first determining module 502, configured to determine whether the charging data is within a set value interval;
a cutting-off module 503, configured to cut off the charging circuit of the robot when the charging data is not within the set value interval;
a connection module 504, configured to connect the charging circuit to continue to charge the robot after the charging circuit is switched off for a specified duration.
In a possible embodiment, the charging data comprises a charging current or a battery current of the robot; the first determining module 502 is further configured to:
and judging whether the charging current or the battery current of the robot is in a first numerical value interval.
In a possible embodiment, the charging data comprises a charging voltage or a battery voltage of the robot; the first determining module 502 is further configured to:
judging whether the charging voltage is within a second numerical value interval or not; or,
and judging whether the battery voltage of the robot is in a third value interval.
In one possible embodiment, the charge control device may further include:
the recording module is used for recording the charging time length after the charging circuit is switched on;
the second judgment module is used for judging whether the charging time is greater than a set value or not;
the cutting-off module is further configured to cut off a charging circuit of the robot when the charging duration is greater than the set value;
and the communication module is used for communicating the charging circuit after the charging circuit is cut off for a second designated length so as to continuously charge the robot.
In one possible embodiment, the charge control device may further include: a recording module further configured to:
and after the charging circuit is cut off, clearing the charging time length.
In one possible embodiment, the charging data includes a charging voltage, and the charging control apparatus may further include:
the third judgment module is used for judging whether the charging voltage is smaller than the lower limit value of the voltage of the charger of the robot;
the above-mentioned cutting-off module may be further configured to cut off the charging circuit of the robot when the charging voltage is smaller than the voltage lower limit value.
By using the electric control device provided by the embodiment of the application, the charging data can be monitored, and when the charging data does not meet the condition, the charging can be interrupted without stopping the charging, so that the normal charging of the battery can be maintained while the charging safety is improved.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the charging control method in the above method embodiment.
The computer program product of the charging control method provided in the embodiment of the present application includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the steps of the charging control method described in the above method embodiment, which may be specifically referred to in the above method embodiment, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
It should be noted that the functions, if implemented in the form of software functional modules and sold or used as independent products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A charging control method applied to a robot, the charging control method comprising:
acquiring charging data of the robot, wherein the charging data comprises charging voltage;
judging whether the charging data is in a set value interval or not;
when the charging data is not in the set value interval, a charging circuit of the robot is cut off;
after the charging circuit is cut off for a first designated time, connecting the charging circuit to continuously charge the robot;
recording the charging time after the charging circuit is switched on;
judging whether the charging time is greater than a set value or not;
when the charging time is longer than the set value, a charging circuit of the robot is cut off;
after the charging circuit is cut off for a second designated length of time, connecting the charging circuit to continue charging the robot;
judging whether the charging voltage is smaller than the lower limit value of the voltage of a charger of the robot;
and when the charging voltage is smaller than the lower limit value of the voltage, cutting off a charging circuit of the robot.
2. The method of claim 1, wherein the charging data comprises a charging current or a battery current of the robot; the step of judging whether the charging data is in a set value interval includes:
and judging whether the charging current or the battery current of the robot is in a first numerical value interval.
3. The method of claim 1, wherein the charging data comprises a charging voltage or a battery voltage of the robot; the step of judging whether the charging data is in a set value interval includes:
judging whether the charging voltage is within a second numerical value interval or not; or,
and judging whether the battery voltage of the robot is in a third value interval.
4. The method of claim 1, further comprising:
and after the charging circuit is cut off, clearing the charging time length.
5. A charge control device, characterized by being applied to a robot, the charge control device comprising:
the acquisition module is used for acquiring charging data of the robot, wherein the charging data comprises charging voltage;
the first judgment module is used for judging whether the charging data is in a set numerical value interval or not;
the cutoff module is used for cutting off a charging circuit of the robot when the charging data is not in the set numerical value interval;
the communication module is used for communicating the charging circuit to continuously charge the robot after the charging circuit is cut off for a specified time;
the recording module is used for recording the charging time length after the charging circuit is switched on;
the second judgment module is used for judging whether the charging time is greater than a set value or not;
the cutting-off module is further used for cutting off a charging circuit of the robot when the charging duration is greater than the set value;
the communication module is used for communicating the charging circuit after the charging circuit is cut off for a second designated length so as to continuously charge the robot;
the third judgment module is used for judging whether the charging voltage is smaller than the lower limit value of the voltage of the charger of the robot;
the above-mentioned cutting-off module may be further configured to cut off the charging circuit of the robot when the charging voltage is smaller than the voltage lower limit value.
6. A robot, comprising: a processor, a memory storing machine-readable instructions executable by the processor, the machine-readable instructions when executed by the processor performing the steps of the method of any of claims 1 to 4 when the electronic device is run.
7. A robot as claimed in claim 6, characterized by comprising: a charging circuit;
the charging circuit includes:
the switching circuit is used for controlling the charging of the robot to be turned on or off;
a current detection circuit for detecting a charging current of the robot or a battery current of the robot;
a voltage detection circuit for detecting a charging voltage of the robot or a battery voltage of the robot;
the first comparator is used for judging whether the charging current or the battery current of the robot is within a first numerical value interval or not;
and the second comparator is used for judging whether the charging voltage or the battery voltage of the robot is within a second numerical value interval.
8. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, is adapted to carry out the steps of the method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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